Gunnery training device using a weapon

ABSTRACT

The invention relates to a gunnery training device using a weapon ( 1 ), said device being characterised in that it comprises video capturing means ( 5 ) for capturing the field of vision, angular capturing means for detecting angles defining the position of insertion of the synthesis images, processing means ( 21, 22 ) for inserting, in real-time, synthesis images into the captured field of vision, and means for visualising ( 6 ) the captured field of vision containing said at least one inserted synthesis image.

The present invention relates to a gunnery training device based on aweapon allowing a user to train in a real context but with the insertionof virtual objects into the field of view.

The subject of the invention is more precisely a device for gunnerytraining or a gunnery simulator, in particular based on a real weapon ina real context.

Gunnery training used in particular by the military consists in the useof non-real weapons in as real a context as possible. Training iscarried out on the basis of various types of weapons, for example:rifle, tank, missile launcher.

Systems allowing gunnery training are today embodied mainly by means ofnon-real weapons dedicated specifically to training. Reproduction of theweapons attempts to comply fully with the dimensions, mass andergonomics of the real system.

However, although reproducing weapons that are as close as possible toreal weapons, these weapons remain reproductions and may behavedifferently to the real weapons.

The systems also use certain imaging techniques to model a visualenvironment of the battle field, in particular synthesis scenery inwhich targets are present, likewise through synthesis images.

These systems have a low level of realism given that the scenery aremodeled through synthesis imaging.

Moreover, the preparation of a training scene is expensive. Furthermore,the training scene must be entirely remodeled in a realistic manner(with the geometry, textures and materials) if the training terrain isdifferent.

Moreover, these systems operate indoors only, that is to say very farfrom the real conditions.

Having regard to the foregoing, it would consequently be beneficial tobe able to embody a gunnery training device based both on real weaponsand in a real context in which the position of the weapon may vary, asmay the place and the moment of appearance of the target virtual objectswhile circumventing at least some of the drawbacks mentioned above.

The present invention is firstly aimed at providing a gunnery trainingdevice based on a weapon, characterized in that the device comprises:

-   -   video capture means adapted to capture an angular field sighted        by the weapon,    -   means for measuring angles adapted to determine at least one        angle representative of the position of the weapon,    -   processing means adapted to insert, in real time, at least one        synthesis image into the captured field, according to the        position information received from said means for measuring        angles, and    -   means for viewing the captured field containing said at least        one inserted synthesis image.

The device according to the invention makes it possible to performgunnery training under real conditions, that is to say in a genuinetheater of operations. Accordingly, a real interaction is created, inreal time, between a weapon and a real context on the one hand, andvirtual objects representing targets, fixed or moving, on the otherhand.

The virtual targets are adapted to be positioned by means of themeasurements obtained by the means for measuring angles.

According to a particular embodiment, the device comprises real-timecontrol means, adapted to control the processing means for the insertionof synthesis images.

According to a particular characteristic, the weapon is a real weapon.

According to this characteristic, the training being able to beperformed on the basis of a real weapon, the training is all the morereal and less expensive since it does not require the creation of adummy weapon.

According to a particular embodiment, the weapon comprising sightingmeans, the training device comprises optical adaptation means adapted toallow the viewing of an image in the sighting means on the basis of themeans for viewing the captured field of view containing the insertedsynthesis images.

According to a particular characteristic, the position informationreceived from said means for measuring angles are the yaw and the pitch.

According to another particular characteristic, the device furthermorecomprises drive means adapted to drive, in real time, the processingmeans adapted to insert synthesis images.

According to a particular characteristic, the device comprises locationmeans adapted to determine the position of the video capture means inthe reference frame of a synthesis terrain in three dimensions, thesynthesis terrain being a modeling corresponding to at least one elementof the captured angular field.

According to this characteristic, the synthesis terrain comprisesgeometry information for determining the location of the capture means,so that the subsequent insertion of the synthesis images is carried outrapidly and precisely.

According to an embodiment, the location means comprise means for thereal-time pairing of points of the synthesis terrain with correspondingpoints of the captured angular field.

According to another embodiment, the device comprises means for lockingthe synthesis terrain on the captured angular field.

According to a particular characteristic, the device comprises alocation receiver adapted to locate the device, in particular a GPS.

According to another particular characteristic, the device comprisesimage analysis means adapted to increase the precision of themeasurements carried out by the means for measuring angles.

Other aspects and advantages of the present invention will be moreclearly apparent on reading the description which follows, thisdescription being given solely by way of nonlimiting example withreference to the appended drawings, in which:

FIG. 1 represents in a diagrammatic manner a device for gunnery trainingin accordance with the invention;

FIG. 2 illustrates a hardware architecture of the device for gunnerytraining according to a first embodiment in accordance with theinvention;

FIG. 3 illustrates a hardware architecture of the device for gunnerytraining according to a second embodiment in accordance with theinvention;

FIG. 4 is a hardware or software architecture of the device for gunnerytraining according to the first embodiment illustrated in FIG. 2; and

FIG. 5 is a hardware or software architecture of the device for gunnerytraining according to the second embodiment illustrated in FIG. 3.

The invention is described on the basis of a real weapon, for example arifle, such as illustrated in FIG. 1. However, it can be implemented onany type of weapon, real or not.

As illustrated in FIG. 1, a real weapon 1 comprises a gun 2, a sight 3and possibly a tripod 4, in order to carry the weapon. However,depending on the weapon, the tripod is not always necessary.

The sight 3 is in particular an optical system mounted on the gun, sothat the optical axis almost coincides with the axis of the gun. Theparallax, that is to say the apparent angular displacement of a bodyobserved from two different points, is negligible.

To embody a gunnery training device based on a real weapon, videocapture means 5, in particular a high-definition video camera, are fixedin a rigid manner. The optical axis of the camera almost coincides withthe axis of the gun; the parallax is therefore negligible. In this way,the camera is able to acquire a video stream corresponding to thegunner's view. The video capture means are able to capture an angularfield sighted by the weapon.

Furthermore, the weapon comprises viewing means 6. These viewing meansallow the gunner to see a sharp image, for example through the sight 3.They comprise for example a video monitor 7 and an optical adaptationblock 8. The video monitor is of small size so as to be able to befitted on the weapon. Moreover, in order to obtain as real a renditionas possible, the video monitor is of high definition.

It is also possible to supplement the weapon with means for measuringangles 9, also called movement sensor or angular sensor, based onvarious technologies, for example an inertial platform, a laserpositioning, optical encoders, tracking by image analysis.

A movement sensor makes it possible to ascertain the orientation of theweapon, for example in the case of a weapon placed on a tripod.

The movement sensor also makes it possible to indicate the position andthe orientation of the weapon, for example in the case of a weapon freeof its movements, in particular in the case of a missile launcherpositioned on the gunner's shoulder.

With a view to carrying out gunnery training, the video arising from thevideo capture means is modified in real time, so as to supplement thereal scenes with virtual targets that the gunner has to hit.

Accordingly, a hardware architecture of the device for gunnery trainingis now described with reference to FIG. 2. This architecture is inparticular used when the weapon is equipped with a movement sensorhaving good accuracy.

This architecture comprises video capture means 5, in particular ahigh-definition camera and viewing means 6 allowing the gunner to viewthe real landscape enhanced with virtual targets.

Furthermore, the enhanced real landscape can comprise visual effects, inparticular the addition of virtual elements to the landscape. Thus, itis made possible to add virtual buildings, to obscure vision as the shotdeparts. For example opaque smoke is simulated at the moment of firingand which clears as time passes.

The hardware architecture comprises a first processing means 21 calledthe gunner processing means, adapted to generate the video imagesenhanced with virtual objects constituting the gunnery training targetsand a second processing means 22 called the instructor processing means,adapted to control the appearance of the virtual targets on the videoimages.

The video sensor 5 is linked to the gunner processing means 21 by way ofa converter 23 from the HD-YUV component output to the HD-SDI standard(“High Definition Serial Digital Interface”), in particular in the 16/9format. The signal converts HD-SDI is thereafter dispatched to theHD-SDI input 24 of the gunner processing means 21.

YUV designates an analog video interface which separates physically onthree conductors, the luminance (Y), the chrominance component 1 (U) andthe chrominance component 2 (V) so as to link a video source to aprocessing means.

The architecture also relies on a firing button 25 present on theweapon. This button is linked to an input/output port 26 of the gunnerprocessing means 21. The port may be in particular the serial port, theparallel port, the USB port, the analog input on a PCI (“PeripheralComponent Interconnect”) card.

The movement sensor 9, such as shown in FIG. 1, with which the weapon issupplemented is also connected to an input/output port 26 of the gunnerprocessing means 21.

The gunner processing means 21 is equipped with an audio output 27making it possible to connect loudspeakers 28 and with a video output29.

The aim of the audio output 27 is to reproduce the sound effects causedby firing, explosions, destruction of the virtual targets, etc.

The video output 29 is linked to the viewing means 6 mounted on theweapon so as to display in the weapon's sight the real landscape,corresponding to the angular field, enhanced with virtual targets andvisual effects, sighted through the gunner's weapon.

The video output is in particular in the UXGA format (“Ultra eXtendedGraphics Array”).

According to an embodiment, the video output 29 is linked to a videodistributor 30. This distributor can, in this way, duplicate the videosignal to the viewing means 6 mounted on the weapon and to a recorder32, in particular by way of a converter 33, able to convert the images,for example in the UXGA format into a PAL or NTSC format with a view toallowing the recording of the video images by the recorder 32.

The recorder 32 is in particular a DVD recorder comprising a hard disk.This recorder makes it possible, on the one hand, to store the videoimages seen by the gunner and, on the other hand, to make it possible toreplay the gunnery sequences during the evaluation or debriefing phase.

The video distributor 30 can also duplicate the video signal to thescreen 34 of an instructor so as to allow the instructor to view theimages of the gunner.

The instructor processing means 22 comprises a video output 35, inparticular in the UXGA format, linked to a screen 34, in particular, byway of a video switch 36. By means of this switch, the screen of theinstructor 34 allows a viewing either of the field of view of the gunnerenhanced with the virtual targets, or of the instructor post man-machineinterface generated by the instructor processing means 22.

The gunner processing means 21 and the instructor processing means 22can be connected together via, in particular, an Ethernet concentrator37.

The data corresponding to the virtual objects to be inserted into thevideo corresponding to the real training landscape are stored, forexample in a database, either in the gunner processing means 21, or inthe instructor processing means 22.

Also linked to the instructor processing means 22 by way of aninput/output port, in particular by way of the USB (“Universal SerialBus”) port, is a handle of mouse or joystick type.

According to a variant embodiment, a hardware architecture of thegunnery training device comprising image analysis means is now describedwith reference to FIG. 3. This architecture is in particular used whenthe weapon is equipped with a movement sensor not having good accuracy.

The hardware architecture illustrated in FIG. 3 is equivalent to thehardware architecture illustrated in FIG. 2, except that a specificimage analysis means 40 has been added.

The means illustrated in FIG. 3 already present in FIG. 2 and describedabove bear the same identifier.

According to this architecture, the movement sensor 9 is no longerlinked to the gunner processing means 21, but to the image analysismeans 40 by way of input/output ports 41 of the analysis means 40.

Specifically, in this way, the movement sensor indicates approximatelythe orientation (yaw, pitch) of the video capture means 5 in the realenvironment. On the basis of this information and of the imageoriginating from the video capture means, the image analysis means 40refines the yaw and pitch values.

Thus, the image analysis enhances the accuracy of the orientation of thevideo capture means, the orientation consisting of the values of yaw andpitch.

According to a particular embodiment, the values (yaw, pitch) arerefined by pairing points of interest contained in the video imageoriginating from the video capture means, with predetermined points ofinterest of the global panorama.

The time required by the image analysis to determine the orientation isoptimized by virtue of the coarse knowledge of the values of yaw andpitch dispatched by the imperfect movement sensor.

Furthermore, the video sensor 5 is also linked to the image analysismeans 40 via the video input 42 of the image analysis means 40.

The image analysis means 40 is linked to the various processing means,in particular to the gunner processing means 21 and to the instructorprocessing means 22, via a network, for example the Ethernet network.

This image analysis means 40, according to this variant embodiment, isdedicated to the dispatching via the network of the orientationinformation (yaw, pitch) of the video capture means to the gunnerprocessing means 21.

This information is generated, in particular, by means of two datastreams, namely the data stream originating from the movement sensor 9and the data stream originating from an image analysis algorithm.

The software architecture for the implementation of the gunnery trainingsystem in accordance with the invention is now described with referenceto FIG. 4.

This software architecture is presented with reference to the hardwarearchitecture illustrated in FIG. 2.

According to this implementation, the gunner processing means 21 isequipped with enhanced-reality processing means 45 in particular theD'FUSION software from the company TOTAL IMMERSION.

Enhanced reality consists in mixing synthesis images, also calledvirtual objects, with real images arising from the video capture means5.

The enhanced-reality processing means carries out the addition ofvirtual objects to a video and the viewing arising from this addition inreal time, thus generating videos of enhanced reality in real time.

Accordingly, the gunner processing means 21 mixes synthesis images andthe real images in real time, that is to say operates the processing ata video image rate of 50 frames per second or 60 frames per second as afunction of the standard of the video capture means.

The gunner processing means 21, as well as containing enhanced-realityprocessing software, comprises various software modules allowing theprocessing of the gunnery training system.

One of the modules consists of a firing management module 44 able tomanage the recovery of the pressing of the firing button by the gunner.

A second module consists in determining in real time the trajectory ofthe shot 47. Accordingly, this module calculates, in real time, thecoordinates of the projectile, in particular the X, Y and Z coordinates,the yaw, pitch and roll.

As a function also of the type of the weapon, it is possible that thegunner's sighting axis may influence the trajectory of the missile, inparticular in the case of guided missiles.

A third module gathers data originating from the movement sensor 48.These data are dependent on the type of sensor and are, for example, theyaw and pitch pair, or the whole set of yaw, pitch and roll data, orelse the X, Y and Z coordinates and the yaw, pitch and roll.

As regards the instructor processing means 22, a control module 49, alsocalled the exercise management module, is present so as to control inparticular the passage of the virtual targets in real time over theweapon viewing means.

This module makes it possible to instruct a gunner (missile, tank, orany other weapon) under the guidance of an instructor.

Accordingly, by means of a man/machine interface and of a handle, theinstructor controls the virtual targets that are to be inserted into thevideo acquired by the capture means 5 and are presented to the gunner.

Thus, these instructions are, according to an embodiment, transmitted tothe gunner processing means 21 so that the latter carries out, throughthe enhanced-reality processing software 41, the inlaying of virtualtargets into the video acquired.

Furthermore, the instructor can control the symbology, that is to saythe reticle also called the sighting aid. Specifically, the instructorcan manipulate symbols which appear in the gunner viewing screen. Inthis way, he can guide the gunner, in particular by showing him a targetthat he has not seen in the landscape, or ask him to sight a certainpoint of the landscape.

A communication interface between the gunner processing means 21 and theinstructor processing means 22 makes it possible to manage thecommunications. Specifically, for each virtual target to be inserted,the coordinates of the target are transmitted from the instructorprocessing means 22 to the gunner processing means 21, in particularproviding the following information: the coordinates X, Y and Z, theyaw, pitch and roll and, for each type of symbology, the coordinates ofthe screen namely the X and Y coordinates.

According to a variant embodiment, a software architecture related tothe implementation of the gunnery training system comprising imageanalysis means is now described with reference to FIG. 5. Thisarchitecture is in particular used when the weapon is equipped with amovement sensor not having good accuracy.

The software architecture illustrated on FIG. 5 is equivalent to thesoftware architecture illustrated on FIG. 4, except that a specificmodule for image analysis is installed in the image analysis means 40,in accordance with the hardware architecture illustrated in FIG. 3.

The modules illustrated in FIG. 5 already present in FIG. 4 anddescribed above bear the same identifier.

According to this implementation, the gunner processing means 21 nolonger receives directly the data originating from the movement sensor9, but possesses a module for receiving data originating from the imageanalysis means 40, by way of a communication interface between thegunner processing means and the image analysis means.

The image analysis means 40 receives, on the one hand, the dataoriginating from the movement sensor 9 and, on the other hand, the videostream originating from the video sensor 5. The image analysis moduleanalyzes the video stream received with the data received from themovement sensor with a view to determining the weapon's yaw and pitchvalues. The result of this analysis is sent, in real time, to the gunnerprocessing means 21 by way of the network.

A communication interface between the gunner processing means 21 and theimage analysis means 40 makes it possible to manage the communications.Specifically, by means of this interface, the data relating to theposition of the camera are transmitted, in particular providing thefollowing information: the yaw and pitch or the yaw, pitch and roll orthe coordinates X, Y and Z, the yaw, pitch and roll.

In these various embodiments, the gunner processing means 21 refreshesthe images transmitted to the viewing means 6 at a frequency compatiblewith the video capture means 5 and the viewing means 6, namely 50 Hz inthe case of a European-standard video capture means and 60 Hz in thecase of an American-standard video capture means. It should be notedthat the viewing means must operate at the same frequency as the videosensor.

Concerning the visually induced aiming of the weapon, the lattervisually induces an aiming offset of the video landscape and the targetsand missile.

The precision of the locking of the virtual targets in the captured reallandscape is dependent on the precision of the movement captureprocedure, in particular as a function of the analysis or otherwise ofimages.

Concerning the resolution of the video capture of high-definition type,it should be noted that the 16/9 HD-SDI standard comprises 1920 pixelsper 1080 interlaced lines and that the angular field sighted by thegunner's weapon is circular and that the useful video resolution insidethe circular field is 1080 pixels per 1080 interlaced lines.

Likewise, during the viewing on the instructor's screen of the angularfield sighted by the gunner's weapon, the screen is for example in the4/3 format, i.e. a resolution of 1440 pixels per 1080 lines.

For these reasons, the video resolution used for the resolution of thedisplay must be redimensioned.

Furthermore, by means of the bilinear texture filtering of the gunnerprocessing means 21, the video image can be redimensioned without anyvisual artefact, that is to say without pixelation of the video image.

This redimensioning is carried out for the display of the real landscapeenhanced with virtual targets in the viewing means 6. Furthermore, itcan be used for display of the enhanced landscape on the instructor'sscreen. In this case, the redimensioning is performed to a format of1280 pixels per 1024 lines in SXGA mode, i.e. to a format of 1600 pixelsper 1200 lines in UXGA mode.

The viewing means 6 are in particular a small-size monitor;specifically, the latter must be lightweight and compact. Thetechnologies that can be used are the following: miniature LCD, LCOS,DLP, OLED.

The viewing means impose a certain display resolution. Thus, thegraphics card of the gunner processing means is configured for thesespecial viewing means. For example, the display is 1280 pixels per 1024lines or 1600 pixels per 1200 lines.

The manner of determining the distance at which the target is detected,recognized and identified by the gunner is now described on the basis ofthis display information. It should be noted that a target is detectedwhen a target is seen to move but the latter is not recognized. Forexample, a tank is identified far off but the type of the tank is notrecognized. A target is called identified when the latter is wellidentified.

Detection, recognition and identification criteria according to twotypes of screen resolution are now described.

In a first case, when the display has a resolution of 1280 pixels per1024 lines and a field of view of 8.5 degrees (corresponding to 1024lines), a target is detected on one video line, the target is recognizedwhen it is present on 3 video lines and it is identified when it ispresent on 5 lines.

According to this example, for a target 2 meters in height, thefollowing results are obtained: detection of a target takes place on atarget at a distance of greater than 6 km, recognition of the target iseffected at 4600 meters and identification is made at 2760 meters.

In a second case, when the display has a resolution of 1600 pixels per1200 lines and a field of view of 8.5 degrees (corresponding to 1200lines), a target is detected on one video line, the target is recognizedwhen it is present on 3 video lines and it is identified when it ispresent on 5 lines.

According to this example, for a target 2 meters in height, thefollowing results are obtained: detection of a target takes place on atarget at a distance of greater than 6 km, recognition of the target iseffected at 5390 meters and the identification is made at 3200 meters.

As indicated previously, the enhanced-reality processing meanssupplements a captured real landscape with mobile or immobile virtualtargets in real time. Specifically, the virtual targets can move in thereal landscape captured by the video sensor.

For example, targets of tank type or of helicopter type can move in thecaptured landscape.

It is furthermore possible to add visual effects such as the animationof the rotor of a helicopter.

The instructor, through the instructor processing means 22, can choosein particular two types of displacement for each target.

A first mode consists in displacing the target according to a list oftransit points, the transit points being modifiable during the exerciseby the instructor. This displacement mode is called the “transit point”mode.

Accordingly, the instructor processing means 22 comprises means forinputting and modifying the transit points, in particular by means ofthe handle.

To input or modify the points of transit of the targets, the instructorcan obtain a view of the scene. On the basis of the handle, for example,the instructor can add, delete or modify a transit point. The transitpoints appear numbered on the instructor's screen.

The transit points for terrestrial vehicles are associated with therelief of the terrain. The transit points for aerial vehicles have analtitude adjustable by the instructor.

The trajectory of the virtual target along the transit points iscalculated by the enhanced-reality processing means with linearinterpolation.

According to an embodiment, 16 transit points per virtual target areenvisaged.

A second displacement mode consists in displacing the target by drivingwith the handle 38 by the instructor. This displacement mode is calledthe “joystick” mode.

It should be noted that very often, the gunner's view exhibits a fieldof view that is too narrow to select the transit points.

Thus, the instructor processing means is equipped with aenhanced-reality processing means, in particular the D'FUSION softwarefrom the company TOTAL IMMERSION specifically configured for inputtingand modifying the transit points, as well as managing the joystick.

To input or modify the points of transit of the targets, the instructorhas a view from above of the scene. With the aid, in particular, of thekeyboard and the mouse, the instructor can add, delete or modify atransit point. The transit points appear numbered on the screen.

Concerning the transit points for terrestrial vehicles, they areassociated with the relief of the terrain. While the transit points foraerial vehicles are associated with an altitude adjustable by theinstructor.

The enhanced-reality processing means allows management of the togglingfrom the “transit point” mode to the “joystick” mode. Accordingly, thevirtual target starts from its current position.

As regards the toggling from the “joystick” mode to the “transit point”mode, the virtual target repositions itself on the first transit pointdefined by the instructor.

On the basis of the position and orientation data of the virtual targetsdefined by the instructor, these are transmitted in real time from theinstructor processing means 22 to the gunner processing means 21equipped with the enhanced-reality processing means with a view to theirprocessing in real time for display on the viewing module of the gunnerundergoing training.

Furthermore, the targets can appear as non-destroyed or destroyed. Forexample, the enhanced-reality processing means can add the immobilecarcass of a tank destroyed by the gunner.

However, the management of the destruction of a target by theenhanced-reality processing means can take several forms.

For example, in the case of the destruction of a tank, when the targetis hit by the gunner during his training, the enhanced-realityprocessing means adds the exploding of the tank to the real landscapethen displays the carcass of the tank.

In the case of the destruction of a helicopter, when the target is hitby the gunner during his training, the enhanced-reality processing meansadds the exploding of the helicopter to the real landscape, then thehelicopter disappears.

However, three explosion effects for the virtual target can beimplemented by the enhanced-reality processing means. These involve,first of all, the explosion following the impact of the shot on theground or on an element of the scenery, thereafter, the explosion of thevirtual target following the impact of the shot on an aerial virtualtarget, finally, the explosion of the virtual target following theimpact of the shot on a terrestrial virtual target.

The enhanced-reality processing means manages each explosion by avirtual object of “billboard” type in which a silhouetted texture isplayed. However, this involves a specific video as a function of thetype of impact.

A virtual object of “billboard” type is a synthesis object consisting ofthe following elements: a rectangle of zero thickness and of a textureapplied to this rectangle. The rectangle is positioned on the groundfacing the camera. The texture applied can be a dynamic textureoriginating from a film stored on the hard disk. For example, in thecase of an explosion, there is an “explosion” film, which is found inthis rectangle. Furthermore, the edges of the rectangle are not seen,the latter being transparent.

However, in the case of an impact on the ground or on an element of thereal landscape, for example a house, the landscape might not be visuallymodified.

During a training shot by a gunner, the distance d1 of the shot withrespect to the terrain in the landscape, that is to say the point of theterrain on the axis of the shot, is determined. Then, the distance d(N)of the shot with respect to the virtual target N is determined.

According to a simplified embodiment, the distance d(N) is the distancebetween the center of gravity of the shot and the center of gravity ofthe target.

On completion of the calculation of these distances, an algorithm fordisplaying the explosion effects comprises a first test making itpossible to determine whether the distance d1 of the shot with respectto the terrain in the landscape is less than a threshold distance. Ifsuch is the case, then the coordinates X, Y and Z of the impact of theshot are determined and the addition and the displaying of the explosionfollowing the impact of the shot on the terrain are triggered.

It is also determined whether the distance d(N) of the shot with respectto the virtual target N is less than a threshold distance. If such isthe case, then the coordinates X, Y and Z of the impact of the shot aredetermined and the addition and the displaying of the explosionfollowing the impact of the shot on the virtual target are triggered,followed by the displaying of the virtual target N destroyed.

In the case of a shot of missile type, the latter is demarcated by a 3Dvirtual object mainly seen from the rear. Furthermore, in order tosimulate the smoke of the missile, M objects of circular “billboard”type are displayed for which a texture has been applied with themanagement of the parameters alpha and transparency, so as to obtain arealistic smoke trail.

The displaying of the missile may be deferred by a few millisecondsafter receipt of the firing information cue so as to simulate the timetaken by the missile to exit the gun of the weapon.

It should be noted that the trajectory of the missile is stored so as tobe able to position the M objects of “billboard” type along thetrajectory.

For the management of the virtual targets and impacts on the ground, itis necessary to have virtual objects available in memory, in particular,within a database, of the terrain, that is to say of the ground andbuildings.

During the use of the device for gunnery training, it is necessary toinstall the weapon on the real terrain and to register, before the startof the exercise, the synthesis terrain with respect to the real terrain.

Accordingly, a locating tool makes it possible, by means of a pairing ofpoints, to extract the position of the video sensor in the referenceframe of the synthesis terrain. Thus, it is possible to lock the realterrain to the synthesis terrain. This pairing consists in associatingpoints of the synthesis terrain with their equivalent in the capturedvideo.

On the basis of a few paired points, the locating tool determines theposition of the video sensor in the reference frame of the synthesisterrain, the synthesis terrain being a modeling in three dimensions ofthe real terrain.

This technology allows the instructor to install the system at anylocation of a theater of operation in a reasonable time in particular bymeans of the three-dimensional modeling thereof.

According to a particular embodiment, a GPS (“Global PositioningSystem”) receiver can be associated with the weapon so that the lattercan be located on the real terrain.

The GPS receiver then dispatches the various coordinates for positioningthe weapon on the real terrain.

Once this information has been received by the locating tool, it ispossible to locate the video sensor, in particular in two ways.

According to a first embodiment, virtual points are associated with realpoints, captured as previously described, of the video stream.

According to a second embodiment, the synthesis terrain is locked, in anangular manner, by means in particular of a handle. The synthesisterrain is then displayed by transparency on the video image so as toallow the locking.

The enhanced-reality processing means is also able to processobscuration. Specifically, as the shot departs, a textured object ofcircular “billboard” type is displayed on the screen. As the shotrecedes, the transparency coefficient is modified so as to pass from anopaque aspect to a transparent aspect. The position of the object of“billboard” type is coupled to the position of the missile so as toobtain a more realistic obscuration effect.

Furthermore, the enhanced-reality processing means can display asighting reticle. The latter can be controlled so as to make it appearor disappear and to modify its position on the sighting screen.

Moreover, the enhanced-reality processing means can allow the additionof a supplementary item of information to aid sighting, for example, bymeans of a chevron. This item of information can also be controlled soas to make it appear or disappear and to adjust its position on thesighting screen according to the X and Y coordinates.

The gunner processing means 21 comprises loudspeakers making it possiblealso to reproduce the sound effects induced by the shot.

For this purpose, on receipt of a firing information cue, the gunnerprocessing means 21 activates a sound representing the departure of theshot, in particular by launching an audio file of “.wav” type. Likewise,if the shot hits the ground, an element of the landscape or a virtualtarget, a sound file is activated so as to represent the noise of theimpact.

As illustrated in FIGS. 2 and 3, the hardware architecture can befurnished with a recorder, in particular a DVD recorder with hard disk,so as to record the content of the gunner's view.

Thus, replay of the gunnery exercise is possible by performing aplayback of the video film stored by the recorder.

The presence of a hard disk on the recorder allows replay without havingto burn the gunnery exercise onto a medium.

Likewise, it is possible to record the positioning and orientationinformation for the targets, the positioning and orientation informationfor the missiles and the positioning and sighting axis information forthe weapon. Thus, on completion of the gunnery training exercise, theinformation is available to analyze the exercise, in particular by meansof an exercise analysis software module.

The gunnery training system as previously described can be used invarious contexts.

Specifically, it is possible to use the gunnery training system indoors.In this case, the system is placed in front of a mockup of a landscapeto which virtual targets are added by the enhanced-reality processingmeans. The mockup must be modeled beforehand.

Furthermore, it is possible to use the gunnery training system on a realterrain. Accordingly, it is necessary to have modeled a synthesisterrain, the latter corresponding to the real terrain.

By way of illustration, the gunner processing means 21 can be anindividual computer having the following characteristics:

-   -   3 GHz, Pentium IV processor, having in particular the operating        system Windows XP Pro, service pack 2,    -   1 GB random access memory or RAM and 80 GB hard disk,    -   motherboard with PCI-X and PCI-Express bus.    -   DeckLink HD acquisition card.    -   Nvidia GeForce6 (6800 GT) or ATI Radeon X800XT graphics card.

The video capture means 5 are for example a high-definition camera ofSony HDR-FX1 type. The converter 23 from the HD-YUV component output tothe HD-SDI standard is in particular an AJA HD converter 10A. The UXGAvideo distributor 30 is for example the Komelec MSV1004 distributor. Thevideo switch 36 is in particular a Comprehensive Video HRS-2x1-SVA/2x1VGA/UXGA High Resolution Vertical Switcher switch. The converter 33 isfor example the Folsom ViewMax converter. Finally, the recorder 32 is aPhilips HDRW 720 DVD recorder having an 80 GB hard disk.

1. Gunnery training device based on a weapon, characterized in that thedevice comprises: video capture means adapted to capture an angularfield sighted by the weapon, means for measuring angles adapted todetermine at least one angle representative of the position of theweapon, processing means adapted to insert, in real time, at least onesynthesis image into the captured field, according to the positioninformation received from said means for measuring angles, and means forviewing the captured field containing said at least one insertedsynthesis image.
 2. Training device according to claim 1, characterizedin that the device comprises real-time control means, adapted to controlthe processing means for the insertion of synthesis images.
 3. Trainingdevice according to claim 1, characterized in that the weapon is a realweapon.
 4. Training device according to claim 1, characterized in thatthe weapon comprising sighting means, the training device comprisesoptical adaptation means adapted to allow the viewing of an image in thesighting means on the basis of the means for viewing the captured fieldof view containing the inserted synthesis images.
 5. Training deviceaccording to claim 1, characterized in that the position informationreceived from said means for measuring angles are the yaw and the pitch.6. Training device according to claim 1, characterized in that thedevice furthermore comprises drive means adapted to drive, in real time,the processing means able to insert synthesis images.
 7. Training deviceaccording to claim 1, characterized in that the device compriseslocation means adapted to determine the position of the video capturemeans in the reference frame of a synthesis terrain in three dimensions,the synthesis terrain being a modeling corresponding to at least oneelement of the captured angular field.
 8. Training device according toclaim 7, characterized in that the location means comprise means for thereal-time pairing of points of the synthesis terrain with correspondingpoints of the captured angular field.
 9. Training device according toclaim 7, characterized in that the device comprises means for lockingthe synthesis terrain on the captured angular field.
 10. Training deviceaccording to claim 1, characterized in that the device comprises alocation receiver adapted to locate the device.
 11. Training deviceaccording to claim 1, characterized in that the device comprises imageanalysis means adapted to increase the precision of the measurementscarried out by the means for measuring angles.